Systems and methods for deriving an agent trajectory based on multiple image sources
AssigneeLyft, Inc.
InventorsLorenzo Peppoloni, Michal Witkowski
Life of this patent
Estimating the term…
Abstract
Examples disclosed herein may involve a computing system that is operable to (i) derive, from a first set of one or more images captured by a monocular camera associated with a vehicle, a first set of position information for a given agent; (ii) derive, from a second set of one or more image pairs captured by a stereo camera associated with the vehicle, a second set of position information for the given agent; (iii) input the first and second sets of position information for the given agent into a motion model that encodes knowledge regarding physical constraints on the given agent's real-world behavior; and (iv) determine a trajectory for the given agent based on an output of the motion model.
Claims20
A computer-implemented method comprising:
- deriving, from a first set of one or more images captured by a monocular camera associated with a vehicle, a first set of position information for a given agent;
- deriving, from a second set of one or more image pairs captured by a stereo camera associated with the vehicle, a second set of position information for the given agent;
- inputting the first and second sets of position information for the given agent into a motion model that encodes knowledge regarding physical constraints on the given agent's real-world behavior;
- and
- determining a trajectory for the given agent based on an output of the motion model.
A non-transitory computer-readable medium comprising program instructions stored thereon that, when executed by at least one processor of a computing system, cause the computing system to perform functions comprising:
- deriving, from a first set of one or more images captured by a monocular camera associated with a vehicle, a first set of position information for a given agent;
- deriving, from a second set of one or more image pairs captured by a stereo camera associated with the vehicle, a second set of position information for the given agent;
- inputting the first and second sets of position information for the given agent into a motion model that encodes knowledge regarding physical constraints on the given agent's real-world behavior;
- and
- determining a trajectory for the given agent based on an output of the motion model.
A computing system comprising:
- at least one processor;
- a non-transitory computer-readable medium;
- and
- program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to:
- derive, from a first set of one or more images captured by a monocular camera associated with a vehicle, a first set of position information for a given agent;
- derive, from a second set of one or more image pairs captured by a stereo camera associated with the vehicle, a second set of position information for the given agent;
- input the first and second sets of position information for the given agent into a motion model that encodes knowledge regarding physical constraints on the given agent's real-world behavior;
- and
- determine a trajectory for the given agent based on an output of the motion model.
Dependencies are inferred from the claim text.